Upload yam_lift_cube_vision/2026-05-03_08-02-44/README.md with huggingface_hub

yam_lift_cube_vision/2026-05-03_08-02-44/README.md

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+---
+tags:
+- reinforcement-learning
+- robotics
+- mujoco
+- onnx
+- rsl-rl
+library_name: pytorch
+---
+
+# yam_lift_cube_vision Policy
+
+**Run:** `2026-05-03_08-02-44`
+**Uploaded:** 2026-05-03 13:39:35 UTC
+
+## Training Configuration
+
+| Parameter | Value |
+|-----------|-------|
+| Algorithm | PPO |
+| Max Iterations | unknown |
+| Final Iteration | 2999 |
+| Learning Rate | unknown |
+| Gamma | unknown |
+| Learning Epochs | unknown |
+| Mini Batches | unknown |
+| Entropy Coefficient | unknown |
+
+## Network Architecture
+
+| Component | Hidden Dimensions | Activation |
+|-----------|------------------|------------|
+| Actor | unknown | unknown |
+| Critic | unknown | unknown |
+
+## Environment
+
+| Parameter | Value |
+|-----------|-------|
+| Num Environments | unknown |
+| Decimation | unknown |
+| Episode Length (s) | unknown |
+
+## Command Ranges
+
+- No command ranges found
+
+## Reward Functions
+
+- No reward terms found
+
+## Files
+
+| File | Description |
+|------|-------------|
+| `model_final.pt` | Final PyTorch checkpoint (iteration 2999) |
+| `policy.onnx` | Exported ONNX policy |
+| `agent.yaml` | Agent configuration |
+| `env.yaml` | Environment configuration |
+| `mjlab.diff` | Git diff snapshot for reproducibility |
+
+## Usage
+
+### Load PyTorch Checkpoint
+
+```python
+import torch
+from mjlab.rl.runner import MjlabOnPolicyRunner
+
+checkpoint = torch.load("model_final.pt", map_location="cpu")
+actor_state = checkpoint["actor_state_dict"]
+# Use with your environment setup
+```
+
+### Load ONNX Policy
+
+```python
+import onnxruntime as ort
+import numpy as np
+
+session = ort.InferenceSession("policy.onnx")
+observation = np.zeros((1, obs_dim), dtype=np.float32)
+action = session.run(None, {session.get_inputs()[0].name: observation})[0]
+```
+
+### Load with MjLab
+
+```bash
+# Option 1: Clone the HF repository
+git lfs install
+git clone https://huggingface.co/robomotic/mjlab-policies
+cd mjlab-policies
+# Navigate to the appropriate directory for this run
+
+# Option 2: Download just this run using HF CLI
+huggingface-cli download robomotic/mjlab-policies yam_lift_cube_vision/2026-05-03_08-02-44/model_final.pt
+
+# Play the policy
+uv run play --task yam_lift_cube_vision --checkpoint path/to/model_final.pt
+```